From a6f93c30d9151d0d913868e74e48979cd89197c8 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Beat=20K=C3=BCng?= <beat-kueng@gmx.net>
Date: Fri, 3 Aug 2018 15:06:00 +0200
Subject: [PATCH] Revert "Move px4io firmware update logic block to rc.io."

This reverts commit 0928112a80d816eb82bbb3d05db01d19fc14d472.
---
 ROMFS/px4fmu_common/init.d/rc.io | 57 +--------------------------
 ROMFS/px4fmu_common/init.d/rcS   | 67 ++++++++++++++++++++++++++++----
 2 files changed, 60 insertions(+), 64 deletions(-)

diff --git a/ROMFS/px4fmu_common/init.d/rc.io b/ROMFS/px4fmu_common/init.d/rc.io
index 9ab87e3f22..54948b697d 100644
--- a/ROMFS/px4fmu_common/init.d/rc.io
+++ b/ROMFS/px4fmu_common/init.d/rc.io
@@ -3,60 +3,6 @@
 # PX4IO interface init script.
 #
 
-#
-# Check if PX4IO present and update firmware if needed.
-#
-if [ -f /etc/extras/px4io-v2.bin ]
-then
-	set IO_FILE /etc/extras/px4io-v2.bin
-
-	if px4io checkcrc ${IO_FILE}
-	then
-		set IO_PRESENT yes
-	else
-		tune_control play -m MLL32CP8MB
-
-		if px4io start
-		then
-			# Try to safety px4 io so motor outputs dont go crazy.
-			if px4io safety_on
-			then
-				# success! no-op
-			else
-				# px4io did not respond to the safety command.
-				px4io stop
-			fi
-		fi
-
-		if px4io forceupdate 14662 ${IO_FILE}
-		then
-			usleep 10000
-			if px4io checkcrc ${IO_FILE}
-			then
-				echo "PX4IO CRC OK after updating" >> $LOG_FILE
-				tune_control play -m MLL8CDE
-
-				set IO_PRESENT yes
-			else
-				echo "PX4IO update failed" >> $LOG_FILE
-				# Error tune.
-				tune_control play -t 2
-			fi
-		else
-			echo "PX4IO update failed" >> $LOG_FILE
-			# Error tune.
-			tune_control play -t 2
-		fi
-	fi
-fi
-
-if [ $USE_IO == yes -a $IO_PRESENT == no ]
-then
-	echo "PX4IO not found" >> $LOG_FILE
-	# Error tune.
-	tune_control play -t 2
-fi
-
 if px4io start
 then
 	# Allow PX4IO to recover from midair restarts.
@@ -66,6 +12,5 @@ then
 	px4io limit 400
 else
 	echo "PX4IO start failed" >> $LOG_FILE
-	# Error tune.
-	tune_control play -t 2
+	tune_control play -m ${TUNE_ERR}
 fi
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 398ac12eed..95e8778965 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -335,6 +335,53 @@ else
 		param set SYS_AUTOCONFIG 0
 	fi
 
+	#
+	# Check if PX4IO present and update firmware if needed.
+	#
+	if [ -f /etc/extras/px4io-v2.bin ]
+	then
+		set IO_FILE /etc/extras/px4io-v2.bin
+
+		if px4io checkcrc ${IO_FILE}
+		then
+			set IO_PRESENT yes
+		else
+			tune_control play -m MLL32CP8MB
+
+			if px4io start
+			then
+				# Try to safety px4 io so motor outputs don't go crazy.
+				if px4io safety_on
+				then
+					# success! no-op
+				else
+					# px4io did not respond to the safety command.
+					px4io stop
+				fi
+			fi
+
+			if px4io forceupdate 14662 ${IO_FILE}
+			then
+				usleep 10000
+				if px4io checkcrc ${IO_FILE}
+				then
+					echo "PX4IO CRC OK after updating" >> $LOG_FILE
+					tune_control play -m MLL8CDE
+
+					set IO_PRESENT yes
+				else
+					echo "PX4IO update failed" >> $LOG_FILE
+					# Error tune.
+					tune_control play -t 2
+				fi
+			else
+				echo "PX4IO update failed" >> $LOG_FILE
+				# Error tune.
+				tune_control play -t 2
+			fi
+		fi
+	fi
+
 	#
 	# Set USE_IO flag.
 	#
@@ -343,6 +390,18 @@ else
 		set USE_IO yes
 	fi
 
+	if [ $USE_IO == yes -a $IO_PRESENT == no ]
+	then
+		echo "PX4IO not found" >> $LOG_FILE
+		# Error tune.
+		tune_control play -t 2
+	fi
+
+	if [ $IO_PRESENT == no -o $USE_IO == no ]
+	then
+		rc_input start
+	fi
+
 	#
 	# Sensors System (start before Commander so Preflight checks are properly run).
 	# Commander needs to be this early for in-air-restarts.
@@ -445,14 +504,6 @@ else
 	#
 	sh /etc/init.d/rc.logging
 
-	#
-	# Start the rc_input driver.
-	#
-	if [ $USE_IO == no -o $IO_PRESENT == no ]
-	then
-		rc_input start
-	fi
-
 	#
 	# Start vmount to control mounts such as gimbals, disabled by default.
 	#